uavsim.graphics.instruments.turncoordinator
Class TurnCoordinator

java.lang.Object
  uavsim.graphics.instruments.A_Instrument
      uavsim.graphics.instruments.A_CircularInstrument<GenericValue>
          uavsim.graphics.instruments.turncoordinator.TurnCoordinator

All Implemented Interfaces:

java.awt.event.MouseListener, java.awt.event.MouseMotionListener, java.util.EventListener, javax.swing.event.MouseInputListener, I_AngleMapper<GenericValue>

public class TurnCoordinator
extends A_CircularInstrument<GenericValue>

Defines a standard turn coordinator to depict rate of turn in degrees per second against a standard rate of three degrees per second. It also shows the slip/skid coordination ball.

Author:

Dan Tappan [20.06.11]

Field Summary

private Airspeed	_airspeed the airspeed
private Attitude	_attitude the attitude
private Course	_course the course
private static java.awt.Color	AIRPLANE_COLOR the color of the airplane
private static Scaler	AIRPLANE_DOT_SCALE the size scale of the airplane center dot relative to the instrument size
private static Scaler	AIRPLANE_LINE_END_SCALE the position scale of the airplane wing lines relative to the instrument center
private static Scaler	AIRPLANE_LINE_SCALE the weight scale of the airplane wing lines relative to the instrument size
private static double	AIRPLANE_WING_DEVIATION an empirically determined coefficient to align the airplane wings with the rate of turn
private static Scaler	ARC_INNER_RADIUS_SCALE the size scale of the arc inner radius relative to the instrument size
private static Scaler	ARC_OUTER_RADIUS_SCALE the size scale of the arc outer radius relative to the instrument size
private static java.awt.Color	BALL_COLOR the color of the slip/skid ball
private static AngleMathematical	BALL_LINE_ANGLE_LEFT the angle of the left line of the ball cage
private static AngleMathematical	BALL_LINE_ANGLE_RIGHT the angle of the right line of the ball cage
private static java.awt.Color	BALL_LINE_COLOR the color of the coordination cage for the ball
private static Scaler	BALL_LINE_SCALE the size scale of the ball line relative to the instrument size
private static Scaler	BALL_SCALE the size scale of the ball relative to the instrument size
private static int	BALL_SKEW_SCALE an empirically determined ratio to convert the coordination factor to the ball angle
private static double	COORDINATION_YAW_SCALE an empirically determined coefficient to infer the coordination fraction from the yaw
private static double	STANDARD_RATE the degrees per second in a standard-rate turn
private static double	STANDARD_RATE_MAX the maximum clockwise degrees per second to depict
private static double	STANDARD_RATE_MIN the maximum counterclockwise degrees per second to depict
private static AngleMathematical	TICK_ANGLE_LEVEL_LEFT the left tick angle for level flight
private static AngleMathematical	TICK_ANGLE_LEVEL_RIGHT the right tick angle for level flight
private static AngleMathematical	TICK_ANGLE_STANDARD_LEFT the left tick angle for a standard-rate turn
private static AngleMathematical	TICK_ANGLE_STANDARD_RIGHT the right tick angle for a standard-rate turn
private static java.awt.Color	TICK_COLOR the color of the ticks
private static Scaler	TICK_LINE_SCALE the size scale of the tick lines relative to the instrument size
private static java.awt.Color	TUBE_COLOR the color of the ball tube
private static GenericValue	TUBE_END_PADDING_NEGATIVE the angle-mapped arc interval for the start of the ball tube
private static GenericValue	TUBE_END_PADDING_POSITIVE the angle-mapped arc interval for the end of the ball tube
private static Scaler	TUBE_RADIUS_INNER_SCALE the size scale of the tube inner radius relative to the instrument size
private static Scaler	TUBE_RADIUS_OUTER_SCALE the size scale of the tube outer radius relative to the instrument size
private static Scaler	TUBE_RADIUS_POSITION_SCALE the position scale of the tube anchor relative to the instrument center
private static double	UNCOORDINATION_MAX the maximum amount of positive uncoordination as a percent angle-mapped by a GenericValue
private static double	UNCOORDINATION_MIN the maximum amount of negative uncoordination as a percent angle-mapped by a GenericValue

Fields inherited from class uavsim.graphics.instruments.A_CircularInstrument

_ringSize, DISK_COLOR, MOUNT_RING_COLOR, MOUNT_RING_INNER_SCALE

Fields inherited from class uavsim.graphics.instruments.A_Instrument

_canvasAnchor, _canvasSize, _graphics, _id

Constructor Summary

TurnCoordinator(java.lang.String id, int canvasSize, CoordinateCartesianAbsolute canvasAnchor)
Creates a turn coordinator.

Method Summary

double	calculateTurnRateDegreesPerSecond() Gets the rate of turn as degrees per second based on the current bank angle and airspeed.
double	calculateTurnRateMultipleOfStandard() Gets the rate of turn as multiples of standard rate (three degrees per second) based on the current bank angle and airspeed.
private double	clampStandardRate(double degreesPerSecond) Clamps the rate of turn to the defined limits.
Airspeed	getAirspeed() Gets the airspeed in knots.
Attitude	getAttitude() Gets the attitude.
double	getCoordinationFraction() Gets the ratio of coordinated flight on the clamped interval [-1.0,+1.0], where 0 is coordinated, negative is ball left, and positive is ball right.
Course	getCourse() Gets the course.
private double	getYawDerived() Returns the derived yaw as the difference between the course and heading.
AngleMathematical	mapAngle_(GenericValue coordinationFraction) Returns the angle corresponding to the value of a unit.
void	render(java.awt.Graphics graphics) Renders the current state of the instrument.
private void	renderMiniaturePlane() Renders the miniature airplane.
private void	renderTicks() Renders the standard-rate ticks.
private void	renderTubeAndBall() Renders the slip/skid tube and ball.
java.lang.String	toString()
void	update(Attitude attitude, Course course, Airspeed airspeed) Updates the state of the instrument without rendering it.

Methods inherited from class uavsim.graphics.instruments.A_CircularInstrument

mapAngle, renderDisk, renderMountRing

Methods inherited from class uavsim.graphics.instruments.A_Instrument

getAnchor, getCanvasSize, getGraphics, getID, getParentComponent, handleControlCallback, hasControls, mouseClicked, mouseDragged, mouseEntered, mouseExited, mouseMoved, mousePressed, mouseReleased, refresh, registerControl, setCanvasAnchor, setCanvasSize, setParentComponent

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

_airspeed

private Airspeed _airspeed

the airspeed

_attitude

private Attitude _attitude

the attitude

_course

private Course _course

the course

AIRPLANE_COLOR

private static final java.awt.Color AIRPLANE_COLOR

the color of the airplane

AIRPLANE_DOT_SCALE

private static final Scaler AIRPLANE_DOT_SCALE

the size scale of the airplane center dot relative to the instrument size

AIRPLANE_LINE_END_SCALE

private static final Scaler AIRPLANE_LINE_END_SCALE

the position scale of the airplane wing lines relative to the instrument center

AIRPLANE_LINE_SCALE

private static final Scaler AIRPLANE_LINE_SCALE

the weight scale of the airplane wing lines relative to the instrument size

AIRPLANE_WING_DEVIATION

private static final double AIRPLANE_WING_DEVIATION

an empirically determined coefficient to align the airplane wings with the rate of turn

See Also:

Constant Field Values

ARC_INNER_RADIUS_SCALE

private static final Scaler ARC_INNER_RADIUS_SCALE

the size scale of the arc inner radius relative to the instrument size

ARC_OUTER_RADIUS_SCALE

private static final Scaler ARC_OUTER_RADIUS_SCALE

the size scale of the arc outer radius relative to the instrument size

BALL_COLOR

private static final java.awt.Color BALL_COLOR

the color of the slip/skid ball

BALL_LINE_ANGLE_LEFT

private static final AngleMathematical BALL_LINE_ANGLE_LEFT

the angle of the left line of the ball cage

BALL_LINE_ANGLE_RIGHT

private static final AngleMathematical BALL_LINE_ANGLE_RIGHT

the angle of the right line of the ball cage

BALL_LINE_COLOR

private static final java.awt.Color BALL_LINE_COLOR

the color of the coordination cage for the ball

BALL_LINE_SCALE

private static final Scaler BALL_LINE_SCALE

the size scale of the ball line relative to the instrument size

BALL_SCALE

private static final Scaler BALL_SCALE

the size scale of the ball relative to the instrument size

BALL_SKEW_SCALE

private static final int BALL_SKEW_SCALE

an empirically determined ratio to convert the coordination factor to the ball angle

See Also:

Constant Field Values

COORDINATION_YAW_SCALE

private static final double COORDINATION_YAW_SCALE

an empirically determined coefficient to infer the coordination fraction from the yaw

See Also:

Constant Field Values

STANDARD_RATE

private static final double STANDARD_RATE

the degrees per second in a standard-rate turn

See Also:

Constant Field Values

STANDARD_RATE_MAX

private static final double STANDARD_RATE_MAX

the maximum clockwise degrees per second to depict

See Also:

Constant Field Values

STANDARD_RATE_MIN

private static final double STANDARD_RATE_MIN

the maximum counterclockwise degrees per second to depict

See Also:

Constant Field Values

TICK_ANGLE_LEVEL_LEFT

private static final AngleMathematical TICK_ANGLE_LEVEL_LEFT

the left tick angle for level flight

TICK_ANGLE_LEVEL_RIGHT

private static final AngleMathematical TICK_ANGLE_LEVEL_RIGHT

the right tick angle for level flight

TICK_ANGLE_STANDARD_LEFT

private static final AngleMathematical TICK_ANGLE_STANDARD_LEFT

the left tick angle for a standard-rate turn

TICK_ANGLE_STANDARD_RIGHT

private static final AngleMathematical TICK_ANGLE_STANDARD_RIGHT

the right tick angle for a standard-rate turn

TICK_COLOR

private static final java.awt.Color TICK_COLOR

the color of the ticks

TICK_LINE_SCALE

private static final Scaler TICK_LINE_SCALE

the size scale of the tick lines relative to the instrument size

TUBE_COLOR

private static final java.awt.Color TUBE_COLOR

the color of the ball tube

TUBE_END_PADDING_NEGATIVE

private static final GenericValue TUBE_END_PADDING_NEGATIVE

the angle-mapped arc interval for the start of the ball tube

TUBE_END_PADDING_POSITIVE

private static final GenericValue TUBE_END_PADDING_POSITIVE

the angle-mapped arc interval for the end of the ball tube

TUBE_RADIUS_INNER_SCALE

private static final Scaler TUBE_RADIUS_INNER_SCALE

the size scale of the tube inner radius relative to the instrument size

TUBE_RADIUS_OUTER_SCALE

private static final Scaler TUBE_RADIUS_OUTER_SCALE

the size scale of the tube outer radius relative to the instrument size

TUBE_RADIUS_POSITION_SCALE

private static final Scaler TUBE_RADIUS_POSITION_SCALE

the position scale of the tube anchor relative to the instrument center

UNCOORDINATION_MAX

private static final double UNCOORDINATION_MAX

the maximum amount of positive uncoordination as a percent angle-mapped by a GenericValue

See Also:

Constant Field Values

UNCOORDINATION_MIN

private static final double UNCOORDINATION_MIN

the maximum amount of negative uncoordination as a percent angle-mapped by a GenericValue

See Also:

Constant Field Values

Constructor Detail

TurnCoordinator

public TurnCoordinator(java.lang.String id,
                       int canvasSize,
                       CoordinateCartesianAbsolute canvasAnchor)

Creates a turn coordinator.

Parameters:

id - - the unique instrument identifier

canvasSize - - the square size of the instrument footprint in pixels

canvasAnchor - - the anchor position for the center of the canvas in pixels

Method Detail

calculateTurnRateDegreesPerSecond

public double calculateTurnRateDegreesPerSecond()

Gets the rate of turn as degrees per second based on the current bank angle and airspeed.

Returns:

the rate

calculateTurnRateMultipleOfStandard

public double calculateTurnRateMultipleOfStandard()

Gets the rate of turn as multiples of standard rate (three degrees per second) based on the current bank angle and airspeed. It clamps the multiple to [-4.5,+4.5].

Returns:

the multiple

clampStandardRate

private double clampStandardRate(double degreesPerSecond)

Clamps the rate of turn to the defined limits.

Parameters:

degreesPerSecond - - the rate

Returns:

the clamped rate

getAirspeed

public Airspeed getAirspeed()

Gets the airspeed in knots.

Returns:

the airspeed.

getAttitude

public Attitude getAttitude()

Gets the attitude.

Returns:

the attitude

getCoordinationFraction

public double getCoordinationFraction()

Gets the ratio of coordinated flight on the clamped interval [-1.0,+1.0], where 0 is coordinated, negative is ball left, and positive is ball right. The approximation is based on the derived yaw.

Returns:

the fraction

getCourse

public Course getCourse()

Gets the course.

Returns:

the course

getYawDerived

private double getYawDerived()

Returns the derived yaw as the difference between the course and heading. This approximation is not entirely justified, but its behavior is reasonable.

Returns:

the yaw

mapAngle_

public AngleMathematical mapAngle_(GenericValue coordinationFraction)

Returns the angle corresponding to the value of a unit.

Parameters:

coordinationFraction - - the unit

Returns:

the angle

render

public void render(java.awt.Graphics graphics)

Renders the current state of the instrument.

Overrides:

render in class A_CircularInstrument<GenericValue>

Parameters:

graphics - - the graphics context

renderMiniaturePlane

private void renderMiniaturePlane()

Renders the miniature airplane.

renderTicks

private void renderTicks()

Renders the standard-rate ticks.

renderTubeAndBall

private void renderTubeAndBall()

Renders the slip/skid tube and ball.

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

update

public void update(Attitude attitude,
                   Course course,
                   Airspeed airspeed)

Updates the state of the instrument without rendering it.

Parameters:

attitude - - the attitude

course - - the course

airspeed - - the airspeed